Velodyne Acoustics HDL-64E S2.1 user manual Available commands, Command Description Parameters

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usaGe	HDL-64E S2 and S2.1 User’s Manual

Available commands

The following run-time commands are available with the sensor:

Command	Description	Parameters

#HDLRPMnnnn$	Set spin rate from 300 to 1200 RPM	nnnn is an integer between 0300 and 1200
	n flash memory (default is 600 RPM)

#HDLRPNnnnn$	Set spin rate from 300 to 1200 RPM	nnnn is an integer between 0300 and 1200
	in RAM (default is 600 RPM)

#HDLIPAssssssssssssdddddddddddd$	Change source and/or destination	• ssssssssssss is the source 12-digit IP address
	IP address	• dddddddddddd is the destination 12-digit
		IP address

#HDLFOVsssnnn$	Change horizontal Field of View (HFOV)	• sss = starting angle in degrees; sss is an integer
		between 000 and 360
		• nnn = ending angle in degrees; nnn is an
		integer between 000 and 360

You can also upload calibration data from db.xml into flash memory and use GPS time synchronization.

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Contents

HDL-64E S2 and S2.1 E R ’ S M a N U a L a N DFront/Back Mounting Side Mounting Top Mounting Wiring BoxReading Calibration and Sensor Parameter Data Last Six Bytes ExamplesPage Introduction S2.1Box PrinciPLes of oPeration HDL-64E S2 design overviewInstaLLation oVerVieW Front/Back MountingSide Mounting Side HDL mounting illustration Top Mounting Top HDL mounting illustrationWiring UsaGeUse the Included Point-cloud Viewer Develop Your Own Application-specific Point-cloud ViewerEstablish communication with the sensor Db.xml Calibration ParametersParameter Unit Description Values Change Run-Time Parameters Sample Batch File .batSample SERCMD.txt file Available commands Command Description ParametersControl Spin Rate Limit Horizontal FOV Data CollectedDefine Sensor Memory IP Source and Destination Addresses DestinationUpload Calibration Data External GPS Time SynchronizationGPS Equipment Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesGPS Connection Timestamp Info Accuracy Laser Firing Sequence and TimingFirMWare uPdate HDL software update screen captureIsometric View APPendix a MechanicaL draWinGsAPPendix B WirinG diaGraM Install APPendix c diGitaL sensor recorder dsrDigital Sensor Recorder DSR APPendix c diGitaL sensor recorder dsr Click the Record buttonZoom Axis RotationShift RotationalAPPendix d MatLaB saMPLe code APPendix d MatLaB saMPLe code Status Type Ascii Value Interpretation and Scaling APPendix e data PacKet forMat Data Packet FormatFirmware version 4.07 sheet 1 Firmware version 4.07 sheet 2 Firmware version 4.07 sheet 3 Last Six Bytes Examples 40 = Ver Packet #7657 Packet #7658APPendix f duaL tWo Point caLiBration MethodoLoGy Dual Two Point Calibration Methodology and Code SamplesCoordinate Calculation Algorithm Sample Code APPendix f duaL tWo Point caLiBration MethodoLoGy Intensity Compensation vs Distance Calibration WindowIntensity Value Corrected by Distance Code APPendix f duaL tWo Point caLiBration MethodoLoGy APPendix G ethernet transit tiMinG taBLe HDL-64E Ethernet Timing Table OverviewHow to use this table The table represents a sensor Laser Numbers 0-7 & 32-39 Lower,UpperAPPendix h Laser and detector arranGeMent APPendix i anGuLar resoLution RPM RPSTrouBLeshootinG Problem ResolutionSerVice and Maintenance SPecifications Velodyne LiDAR, Inc